CN104735408A - Dead-corner-free vehicle monitoring method and system for police - Google Patents

Abstract

The invention discloses a dead-corner-free vehicle monitoring method for police. The monitoring method is characterized by comprising the following steps that 1, shooting devices are arranged; 2, an interaction terminal is arranged in a vehicle; 3, a DSP module and a GPS module are arranged in the interaction terminal; 4, during work, the shooting devices shoot the surrounding of a vehicle body and transmit distorted original image information with wide view angles to the DSP module; the DSP module processes the image information obtained by the shooting devices, carries out distortion correction and image reconstruction, splices images collected by the shooting devices, displays an integral panoramic image surrounding the vehicle body after splicing on a display screen through a frame, and meanwhile converts the image information into a digital signal to be stored, called and checked in a later stage or remotely. The invention further discloses a monitoring system for implementing the method.

Description

A kind of without the police vehicle mounted surveillance method in dead angle and surveillance

Technical field

The present invention relates to police supervision field, be specifically related to a kind of without the police vehicle mounted surveillance method in dead angle, and implement the surveillance of the method.

Background technology

At present, when police exercise a public function, in police vehicle, monitor surrounding environment, mostly adopt and visually observe, human body is sitting in driver's cabin, because various factors causes cannot intactly observing vehicle body surrounding in driver's cabin, omits some criminal offences; By carrying rotating camera or arranging multiple camera in minority police vehicle, but, rotating pick-up head is the same with human eye, the picture on each direction of car body can not be observed simultaneously, and the police vehicle of multiple camera is set, because camera coverage is limited, easy generation shooting blind angle amount, and the image captured by multiple camera, need by multiple picture display on a display screen, easily to allow people produce visual fatigue.

Summary of the invention

The object of the invention is for the deficiencies in the prior art, provide one can real time monitoring police vehicle ambient conditions, and can demonstrate on a width picture without the police vehicle mounted surveillance method in dead angle, and implement the surveillance of the method.

The technical scheme that the present invention is adopted for achieving the above object is:

A kind of without the police vehicle mounted surveillance method in dead angle, it comprises the following steps:

(1) arrange filming apparatus, this filming apparatus comprises wide-angle lens and cmos image sensor;

(2) arrange an interactive terminal, and be located in car by interactive terminal, this interactive terminal comprises operating portion, memory module, wireless network transceiver module and display;

(3) in interactive terminal, arrange DSP processing module and GPS locating module, this DSP processing module and filming apparatus, display, memory module, wireless network transceiver module and GPS locating module carry out information exchange;

(4), during work, filming apparatus is taken car body surrounding environment, and the original real-time image information of wide viewing angle, distortion is reached DSP processing module; The image information that DSP processing module process filming apparatus obtains, to go forward side by side line distortion correction and Image Reconstruction, and the image collected by filming apparatus splices, by the overall panoramic picture around splicing aftercarriage, be shown on display screen by a picture, meanwhile, image information is converted to digital signal and stores, check for later stage or far call.

Step (1) described filming apparatus is located at headstock, the tailstock and car both sides, and it also comprises a fixed head, and this fixed head upper end is fixed on headstock, the tailstock and car both sides by fixed mount, the other end, fixing wide-angle lens.

Described step (4) also comprises, and by operating portion, the police being positioned at car can as required, select to check car body side picture, car body both sides picture, car body three side picture or car body panorama; Wherein, described car body side picture is the monitored picture of any side, car body front, rear, left and right, described car body both sides picture is arbitrary neighborhood both sides, car body front, rear, left and right, the monitored picture of combination of two, and by a picture display, described car body three side picture is arbitrary neighborhood three sides, car body front, rear, left and right, the monitored picture of combination, and by a picture display, described car body panorama is the overall picture of car body front, rear, left and right, and by a picture display.

Described image mosaic comprises the following steps:

(1) picture edge characteristic point is obtained;

(2) arranging adjacent both sides original image is the first floor, adopts the template of 9 × 9 Edge Feature Points specifications, carries out Gauss's conversion, obtain multi-layer image to original image;

(3) point in each sampling point in the intermediate layer in metric space and its neighboring area is contrasted, point corresponding for 8 consecutive points in each sampling point same layer is carried out gray value compare, if when gray value difference is between 1 ~ 5, then two width image characteristic points carry out two-way pairing, build general image;

(4) adopt RANSAC algorithm, after the Matching Error existed is corrected, complete image mosaic in step (3).

Step (4) described distortion correction is, by being located at the image distortion correction algorithm in DSP processing module, the location of pixels coordinate supposing non-fault image is (x, y), in fault image respective pixel position coordinates be (x ', y '), then its spatial mappings relation adopts multinomial to be below similar to:

$x^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{a}_{\mathrm{ij}}{x}^i{y}^j$

$y^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{b}_{\mathrm{ij}}{x}^i{y}^j$

Wherein, N is polynomial exponent number, a _ijand b _ijpolynomial coefficient respectively; I=1,2,3 ..., N; J=0,1,2 ..., N-i; I+j≤N.

Implement a described surveillance without the police vehicle mounted surveillance method in dead angle, it comprises filming apparatus, and this filming apparatus comprises wide-angle lens and cmos image sensor; One interactive terminal, and interactive terminal is located in car, this interactive terminal comprises operating portion, memory module, wireless network transceiver module and display; In interactive terminal, arrange DSP processing module and GPS locating module, this DSP processing module and filming apparatus, display, memory module, wireless network transceiver module and GPS locating module carry out information exchange; During work, filming apparatus is taken car body surrounding environment, and the original real-time image information of wide viewing angle, distortion is reached DSP processing module; The image information that DSP processing module process filming apparatus obtains, to go forward side by side line distortion correction and Image Reconstruction, and the image collected by filming apparatus splices, by the overall panoramic picture around splicing aftercarriage, be shown on display screen by a picture, meanwhile, image information is converted to digital signal and stores, check for later stage or far call.

Described filming apparatus is located at headstock, the tailstock and car both sides, and it also comprises a fixed head, and this fixed head upper end is fixed on headstock, the tailstock and car both sides by fixed mount, the other end, fixing wide-angle lens.

Described operating portion is a touching type operation interface, and by this operation interface, the police being positioned at car can as required, select to check car body side picture, car body both sides picture, car body three side picture or car body panorama; Wherein, described car body side picture is the monitored picture of any side, car body front, rear, left and right, described car body both sides picture is arbitrary neighborhood both sides, car body front, rear, left and right, the monitored picture of combination of two, and by a picture display, described car body three side picture is arbitrary neighborhood three sides, car body front, rear, left and right, the monitored picture of combination, and by a picture display, described car body panorama is the overall picture of car body front, rear, left and right, and by a picture display.

In described DSP processing module, be embedded with merging algorithm for images, this algorithm comprises the following steps:

(1) picture edge characteristic point is obtained;

(2) arranging adjacent two width original images is the first floor, adopts the template of 9 × 9 Edge Feature Points specifications, carries out Gauss's conversion, obtain multi-layer image to original image;

(3) point in each sampling point in the intermediate layer in metric space and its neighboring area is contrasted, point corresponding for 8 consecutive points in each sampling point same layer is carried out gray value compare, if when gray value difference is between 1 ~ 5, then two width image characteristic points carry out two-way pairing, build general image;

(4) adopt RANSAC algorithm, after the Matching Error existed is corrected, complete image mosaic in step (3).

Image distortion correction algorithm is embedded with in described DSP processing module, the location of pixels coordinate supposing non-fault image is (x, y), in fault image respective pixel position coordinates be (x ', y '), then its spatial mappings relation adopts multinomial to be below similar to:

$x^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{a}_{\mathrm{ij}}{x}^i{y}^j$

$y^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{b}_{\mathrm{ij}}{x}^i{y}^j$

Wherein, N is polynomial exponent number, a _ijand b _ijpolynomial coefficient respectively; I=1,2,3 ..., N; J=0,1,2 ..., N-i; I+j≤N.

The invention has the beneficial effects as follows: supervision method of the present invention, directly can pass through a picture, show the situation of police vehicle surrounding on a display screen, instead of traditional policeman that needs with the naked eye to observe police car surrounding environment, solve the problem that a policeman can not observe the situation of the many sides of police car simultaneously, simultaneously, pass through operation interface, arbitrarily can retrieve for examination the real-time pictures of car body one side or the multi-lateral, workable, different demand can be met.The present invention has gone out and can watch around car body outside picture in real time in car, can also pass through wireless network, through client terminal, calls the history image information be stored in interactive terminal, also can retrieve for examination real-time image information.

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention;

Fig. 2 is the inventive method flow chart;

Fig. 3 is present system composition structural representation.

Embodiment

Embodiment: see Fig. 1 to Fig. 3, the present embodiment provides a kind of without the police vehicle mounted surveillance method in dead angle, and it comprises the following steps:

(1) arrange filming apparatus, this filming apparatus comprises wide-angle lens and cmos image sensor;

(2) arrange an interactive terminal, and be located in car by interactive terminal, this interactive terminal comprises operating portion, memory module, wireless network transceiver module and display;

(3) in interactive terminal, arrange DSP processing module and GPS locating module, this DSP processing module and filming apparatus, display, memory module, wireless network transceiver module and GPS locating module carry out information exchange;

(4), during work, filming apparatus is taken car body surrounding environment, and the original real-time image information of wide viewing angle, distortion is reached DSP processing module; The image information that DSP processing module process filming apparatus obtains, to go forward side by side line distortion correction and Image Reconstruction, and the image collected by filming apparatus splices, by the overall panoramic picture around splicing aftercarriage, be shown on display screen by a picture, meanwhile, image information is converted to digital signal and stores, check for later stage or far call.

Step (1) described filming apparatus is located at headstock, the tailstock and car both sides, and it also comprises a fixed head, and this fixed head upper end is fixed on headstock, the tailstock and car both sides by fixed mount, the other end, fixing wide-angle lens.

Described step (4) also comprises, and by operating portion, the police being positioned at car can as required, select to check car body side picture, car body both sides picture, car body three side picture or car body panorama; Wherein, described car body side picture is the monitored picture of any side, car body front, rear, left and right, described car body both sides picture is arbitrary neighborhood both sides, car body front, rear, left and right, the monitored picture of combination of two, and by a picture display, described car body three side picture is arbitrary neighborhood three sides, car body front, rear, left and right, the monitored picture of combination, and by a picture display, described car body panorama is the overall picture of car body front, rear, left and right, and by a picture display.

Described image mosaic comprises the following steps:

(1) picture edge characteristic point is obtained;

(2) arranging adjacent both sides original image is the first floor, adopts the template of 9 × 9 Edge Feature Points specifications, carries out Gauss's conversion, obtain multi-layer image to original image;

(3) point in each sampling point in the intermediate layer in metric space and its neighboring area is contrasted, point corresponding for 8 consecutive points in each sampling point same layer is carried out gray value compare, if when gray value difference is between 1 ~ 5, then two width image characteristic points carry out two-way pairing, build general image;

(4) adopt RANSAC algorithm, after the Matching Error existed is corrected, complete image mosaic in step (3).

Step (4) described distortion correction is, by being located at the image distortion correction algorithm in DSP processing module, the location of pixels coordinate supposing non-fault image is (x, y), in fault image respective pixel position coordinates be (x ', y '), then its spatial mappings relation adopts multinomial to be below similar to:

$x^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{a}_{\mathrm{ij}}{x}^i{y}^j$

$y^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{b}_{\mathrm{ij}}{x}^i{y}^j$

Wherein, N is polynomial exponent number, a _ijand b _ijpolynomial coefficient respectively; I=1,2,3 ..., N; J=0,1,2 ..., N-i; I+j≤N.

Implement a described surveillance without the police vehicle mounted surveillance method in dead angle, it comprises filming apparatus, and this filming apparatus comprises wide-angle lens and cmos image sensor; One interactive terminal, and interactive terminal is located in car, this interactive terminal comprises operating portion, memory module, wireless network transceiver module and display; In interactive terminal, arrange DSP processing module and GPS locating module, this DSP processing module and filming apparatus, display, memory module, wireless network transceiver module and GPS locating module carry out information exchange; During work, filming apparatus is taken car body surrounding environment, and the original real-time image information of wide viewing angle, distortion is reached DSP processing module; The image information that DSP processing module process filming apparatus obtains, to go forward side by side line distortion correction and Image Reconstruction, and the image collected by filming apparatus splices, by the overall panoramic picture around splicing aftercarriage, be shown on display screen by a picture, meanwhile, image information is converted to digital signal and stores, check for later stage or far call.

Described filming apparatus is located at headstock, the tailstock and car both sides, and it also comprises a fixed head, and this fixed head upper end is fixed on headstock, the tailstock and car both sides by fixed mount, the other end, fixing wide-angle lens.

Described operating portion is a touching type operation interface, and by this operation interface, the police being positioned at car can as required, select to check car body side picture, car body both sides picture, car body three side picture or car body panorama; Wherein, described car body side picture is the monitored picture of any side, car body front, rear, left and right, described car body both sides picture is arbitrary neighborhood both sides, car body front, rear, left and right, the monitored picture of combination of two, and by a picture display, described car body three side picture is arbitrary neighborhood three sides, car body front, rear, left and right, the monitored picture of combination, and by a picture display, described car body panorama is the overall picture of car body front, rear, left and right, and by a picture display.

In described DSP processing module, be embedded with merging algorithm for images, this algorithm comprises the following steps:

(1) picture edge characteristic point is obtained;

(2) arranging adjacent two width original images is the first floor, adopts the template of 9 × 9 Edge Feature Points specifications, carries out Gauss's conversion, obtain multi-layer image to original image;

(3) point in each sampling point in the intermediate layer in metric space and its neighboring area is contrasted, point corresponding for 8 consecutive points in each sampling point same layer is carried out gray value compare, if when gray value difference is between 1 ~ 5, then two width image characteristic points carry out two-way pairing, build general image;

(4) adopt RANSAC algorithm, after the Matching Error existed is corrected, complete image mosaic in step (3).

Image distortion correction algorithm is embedded with in described DSP processing module, the location of pixels coordinate supposing non-fault image is (x, y), in fault image respective pixel position coordinates be (x ', y '), then its spatial mappings relation adopts multinomial to be below similar to:

$x^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{a}_{\mathrm{ij}}{x}^i{y}^j$

$y^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{b}_{\mathrm{ij}}{x}^i{y}^j$

Wherein, N is polynomial exponent number, a _ijand b _ijpolynomial coefficient respectively; I=1,2,3 ..., N; J=0,1,2 ..., N-i; I+j≤N.

But the foregoing is only better possible embodiments of the present invention, and be not used to limit to the scope of the claims of the present invention, therefore the equivalent structure change that all utilizations description of the present invention is done, be all included in protection scope of the present invention.

Claims (10)

1., without the police vehicle mounted surveillance method in dead angle, it is characterized in that, it comprises the following steps:

(1) arrange filming apparatus, this filming apparatus comprises wide-angle lens and cmos image sensor;

(2) arrange an interactive terminal, and be located in car by interactive terminal, this interactive terminal comprises operating portion, memory module, wireless network transceiver module and display;

(3) in interactive terminal, arrange DSP processing module and GPS locating module, this DSP processing module and filming apparatus, display, memory module, wireless network transceiver module and GPS locating module carry out information exchange;

(4), during work, filming apparatus is taken car body surrounding environment, and the original real-time image information of wide viewing angle, distortion is reached DSP processing module; The image information that DSP processing module process filming apparatus obtains, to go forward side by side line distortion correction and Image Reconstruction, and the image collected by filming apparatus splices, by the overall panoramic picture around splicing aftercarriage, be shown on display screen by a picture, meanwhile, image information is converted to digital signal and stores, check for later stage or far call.

2. according to claim 1 without the police vehicle mounted surveillance method in dead angle, it is characterized in that, step (1) described filming apparatus is located at headstock, the tailstock and car both sides, it also comprises a fixed head, this fixed head upper end is fixed on headstock, the tailstock and car both sides by fixed mount, the other end, fixing wide-angle lens.

3. according to claim 1 without the police vehicle mounted surveillance method in dead angle, it is characterized in that, described step (4) also comprises, pass through operating portion, the police being positioned at car can as required, select to check car body side picture, car body both sides picture, car body three side picture or car body panorama; Wherein, described car body side picture is the monitored picture of any side, car body front, rear, left and right, described car body both sides picture is arbitrary neighborhood both sides, car body front, rear, left and right, the monitored picture of combination of two, and by a picture display, described car body three side picture is arbitrary neighborhood three sides, car body front, rear, left and right, the monitored picture of combination, and by a picture display, described car body panorama is the overall picture of car body front, rear, left and right, and by a picture display.

4. according to claim 1 without the police vehicle mounted surveillance method in dead angle, it is characterized in that, described image mosaic comprises the following steps:

(1) picture edge characteristic point is obtained;

(2) arranging adjacent both sides original image is the first floor, adopts the template of 9 × 9 Edge Feature Points specifications, carries out Gauss's conversion, obtain multi-layer image to original image;

(3) point in each sampling point in the intermediate layer in metric space and its neighboring area is contrasted, point corresponding for 8 consecutive points in each sampling point same layer is carried out gray value compare, if when gray value difference is between 1 ~ 5, then two width image characteristic points carry out two-way pairing, build general image;

(4) adopt RANSAC algorithm, after the Matching Error existed is corrected, complete image mosaic in step (3).

5. according to claim 1 without the police vehicle mounted surveillance method in dead angle, it is characterized in that, step (4) described distortion correction is, by being located at the image distortion correction algorithm in DSP processing module, the location of pixels coordinate supposing non-fault image is (x, y), in fault image respective pixel position coordinates be (x ', y '), then its spatial mappings relation adopts multinomial to be below similar to:

$x^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{a}_{\mathrm{ij}}{x}^i{j}^j$

$y^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{b}_{\mathrm{ij}}{x}^i{y}^j$

Wherein, N is polynomial exponent number, a _ijand b _ijpolynomial coefficient respectively; I=1,2,3 ..., N; J=0,1,2 ..., N-i; I+j≤N.

6. implement the claims one of 1 ~ 5 described surveillance without the police vehicle mounted surveillance method in dead angle, it is characterized in that, it comprises filming apparatus, and this filming apparatus comprises wide-angle lens and cmos image sensor; One interactive terminal, and interactive terminal is located in car, this interactive terminal comprises operating portion, memory module, wireless network transceiver module and display; In interactive terminal, arrange DSP processing module and GPS locating module, this DSP processing module and filming apparatus, display, memory module, wireless network transceiver module and GPS locating module carry out information exchange; During work, filming apparatus is taken car body surrounding environment, and the original real-time image information of wide viewing angle, distortion is reached DSP processing module; The image information that DSP processing module process filming apparatus obtains, to go forward side by side line distortion correction and Image Reconstruction, and the image collected by filming apparatus splices, by the overall panoramic picture around splicing aftercarriage, be shown on display screen by a picture, meanwhile, image information is converted to digital signal and stores, check for later stage or far call.

7. surveillance according to claim 6, is characterized in that, described filming apparatus is located at headstock, the tailstock and car both sides, it also comprises a fixed head, this fixed head upper end is fixed on headstock, the tailstock and car both sides by fixed mount, the other end, fixing wide-angle lens.

8. surveillance according to claim 6, it is characterized in that, described operating portion is a touching type operation interface, by this operation interface, the police being positioned at car can as required, select to check car body side picture, car body both sides picture, car body three side picture or car body panorama; Wherein, described car body side picture is the monitored picture of any side, car body front, rear, left and right, described car body both sides picture is arbitrary neighborhood both sides, car body front, rear, left and right, the monitored picture of combination of two, and by a picture display, described car body three side picture is arbitrary neighborhood three sides, car body front, rear, left and right, the monitored picture of combination, and by a picture display, described car body panorama is the overall picture of car body front, rear, left and right, and by a picture display.

9. surveillance according to claim 6, is characterized in that, in described DSP processing module, be embedded with merging algorithm for images, this algorithm comprises the following steps:

(1) picture edge characteristic point is obtained;

(2) arranging adjacent two width original images is the first floor, adopts the template of 9 × 9 Edge Feature Points specifications, carries out Gauss's conversion, obtain multi-layer image to original image;

(3) point in each sampling point in the intermediate layer in metric space and its neighboring area is contrasted, point corresponding for 8 consecutive points in each sampling point same layer is carried out gray value compare, if when gray value difference is between 1 ~ 5, then two width image characteristic points carry out two-way pairing, build general image;

(4) adopt RANSAC algorithm, after the Matching Error existed is corrected, complete image mosaic in step (3).

10. surveillance according to claim 6, it is characterized in that, image distortion correction algorithm is embedded with in described DSP processing module, the location of pixels coordinate supposing non-fault image is (x, y), in fault image, respective pixel position coordinates is (x ', y '), then its spatial mappings relation adopts multinomial to be below similar to:

$x^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{a}_{\mathrm{ij}}{x}^i{j}^j$

$y^{\′}=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}\underset{j=0}{\overset{N-i}{\mathrm{\Σ}}}{b}_{\mathrm{ij}}{x}^i{y}^j$

Wherein, N is polynomial exponent number, a _ijand b _ijpolynomial coefficient respectively; I=1,2,3 ..., N; J=0,1,2 ..., N-i; I+j≤N.